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Introduction of Cauchy Argument Principle in Nyquist Stability Analysis
Introduction of Cauchy Argument Principle in Nyquist Stability Analysis
Introduction of Cauchy Argument Principle in Nyquist Stability Analysis
By Yong-Nien Rao
Winding number12
The intuitive description in winding number of the curve is equal to the total
number of counterclockwise rotations that the object makes around a point.
C C
C
Z0 Z0 Z0
C C
N(C,Z0)= 2 N(C,Z0)= 1
Let
1
http://en.wikipedia.org/wiki/Winding_number
2
http://mathworld.wolfram.com/ContourWindingNumber.html
∫ dθ = m * 2π
C …(eq.2.5)
Let p = z − z0
Then dp = dz
1 dp
And (Eq.2.1) could be n( C , z0 ) = 2πi ∫C p = m (from (eq.2.2)).
(eq.3.2) is very similar to (eq.1.1) except the orientation. The difference is the
encirclement is clockwise in (eq.1.1). If we define the counterclockwise
encirclement N ′ , we get
− N′ = N …(eq.3.3)
′
The N is just the winding number, that is,
N ′ = n( C ,0 ) …(eq.3.4)